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   &#160;<span id="projectnumber">2.9.4</span>
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<a href="#pub-types">Public Types</a> &#124;
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<p>Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras.  
 <a href="classArVCC4.html#details">More...</a></p>

<p><code>#include &lt;ArVCC4.h&gt;</code></p>

<p>Inherits <a class="el" href="classArPTZ.html">ArPTZ</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:aab99ec46750e1bcd65de691fe20fa86b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aab99ec46750e1bcd65de691fe20fa86b"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>CameraType</b> { <b>CAMERA_VCC4</b>, 
<b>CAMERA_C50I</b>
 }</td></tr>
<tr class="separator:aab99ec46750e1bcd65de691fe20fa86b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8d03a3d7830c8c2b8e17e3a74e79102"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa8d03a3d7830c8c2b8e17e3a74e79102"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>CommState</b> { <b>COMM_UNKNOWN</b>, 
<b>COMM_BIDIRECTIONAL</b>, 
<b>COMM_UNIDIRECTIONAL</b>
 }</td></tr>
<tr class="separator:aa8d03a3d7830c8c2b8e17e3a74e79102"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a08d638b8810a2487c013c40c97c64130"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a08d638b8810a2487c013c40c97c64130">addErrorCB</a> (<a class="el" href="classArFunctor.html">ArFunctor</a> *functor, <a class="el" href="classArListPos.html#adb42d52c70a646c5698c5513cd25bbd0">ArListPos::Pos</a> position)</td></tr>
<tr class="memdesc:a08d638b8810a2487c013c40c97c64130"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds an error callback to a list of callbacks to be called when there is a serious error in communicating - either the parameters were incorrect, the mode was incorrect, or there was an unknown error.  <a href="#a08d638b8810a2487c013c40c97c64130">More...</a><br /></td></tr>
<tr class="separator:a08d638b8810a2487c013c40c97c64130"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2ae2f4d13aca4640819257d256637033"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a2ae2f4d13aca4640819257d256637033">ArVCC4</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot, bool inverted=false, CommState commDirection=COMM_UNKNOWN, bool autoUpdate=true, bool disableLED=false, CameraType cameraType=CAMERA_VCC4)</td></tr>
<tr class="memdesc:a2ae2f4d13aca4640819257d256637033"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#a2ae2f4d13aca4640819257d256637033">More...</a><br /></td></tr>
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<tr class="memitem:addf864180252a4b91029133de456945b"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#addf864180252a4b91029133de456945b">autoFocus</a> (void)</td></tr>
<tr class="memdesc:addf864180252a4b91029133de456945b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set autofocus mode:  <a href="#addf864180252a4b91029133de456945b">More...</a><br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>canGetFOV</b> (void)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>canGetRealPanTilt</b> (void) const </td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>canGetRealZoom</b> (void) const </td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>canSetFocus</b> (void) const </td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>canSetPanTiltSlew</b> ()</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>canZoom</b> (void) const </td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>connectHandler</b> (void)</td></tr>
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<tr class="memitem:ac789afd4861990488a18182a25f831b0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#ac789afd4861990488a18182a25f831b0">digitalZoom</a> (int deg)</td></tr>
<tr class="memdesc:ac789afd4861990488a18182a25f831b0"><td class="mdescLeft">&#160;</td><td class="mdescRight">adjust the digital zoom amount.  <a href="#ac789afd4861990488a18182a25f831b0">More...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>disableAutoUpdate</b> (void)</td></tr>
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<tr class="memitem:a4ca8f652a848ffb27f55480bf5482121"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4ca8f652a848ffb27f55480bf5482121"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a4ca8f652a848ffb27f55480bf5482121">disableIRFilterMode</a> (void)</td></tr>
<tr class="memdesc:a4ca8f652a848ffb27f55480bf5482121"><td class="mdescLeft">&#160;</td><td class="mdescRight">Disable IR cutoff filter. This also turns off the LEDs, if they're on. <br /></td></tr>
<tr class="separator:a4ca8f652a848ffb27f55480bf5482121"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2dad9426e7af830052a37fd2ea80dc5"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac2dad9426e7af830052a37fd2ea80dc5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#ac2dad9426e7af830052a37fd2ea80dc5">disableIRLEDs</a> (void)</td></tr>
<tr class="memdesc:ac2dad9426e7af830052a37fd2ea80dc5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Turn off IR LEDs. <br /></td></tr>
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<tr class="memitem:a293a127fd6042f86e0f167ecb92234f8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a293a127fd6042f86e0f167ecb92234f8"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a293a127fd6042f86e0f167ecb92234f8">enableAutoUpdate</a> (void)</td></tr>
<tr class="memdesc:a293a127fd6042f86e0f167ecb92234f8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Toggle the state of the auto-update. <br /></td></tr>
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<tr class="memitem:a7f6f21086079995077a65121dee602e0"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7f6f21086079995077a65121dee602e0"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a7f6f21086079995077a65121dee602e0">enableIRFilterMode</a> (void)</td></tr>
<tr class="memdesc:a7f6f21086079995077a65121dee602e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable physical IR cutoff filter. <br /></td></tr>
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<tr class="memitem:a41d5862406c378c7f6840b3d6b7e7e12"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a41d5862406c378c7f6840b3d6b7e7e12"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a41d5862406c378c7f6840b3d6b7e7e12">enableIRLEDs</a> (void)</td></tr>
<tr class="memdesc:a41d5862406c378c7f6840b3d6b7e7e12"><td class="mdescLeft">&#160;</td><td class="mdescRight">Turn on IR LEDs. IR-filter must be in place for LEDs to turn on. <br /></td></tr>
<tr class="separator:a41d5862406c378c7f6840b3d6b7e7e12"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a413614cc8e2f2a2ecca801bdbe964b3c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a413614cc8e2f2a2ecca801bdbe964b3c"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a413614cc8e2f2a2ecca801bdbe964b3c">focusFar</a> (void)</td></tr>
<tr class="memdesc:a413614cc8e2f2a2ecca801bdbe964b3c"><td class="mdescLeft">&#160;</td><td class="mdescRight">auto-focus on a far object <br /></td></tr>
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<tr class="memitem:abfcf9e45bace60c492d90d3d3b06a1bf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abfcf9e45bace60c492d90d3d3b06a1bf"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#abfcf9e45bace60c492d90d3d3b06a1bf">focusNear</a> (void)</td></tr>
<tr class="memdesc:abfcf9e45bace60c492d90d3d3b06a1bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">auto-focus on a near object <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>getAutoUpdate</b> (void)</td></tr>
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<tr class="memitem:aa0d7f9143688dca627e3e3032cf513e2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa0d7f9143688dca627e3e3032cf513e2"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>getDigitalZoom</b> (void) const </td></tr>
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<tr class="memitem:a61668dc434f1180c82910ae8469c86b6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a61668dc434f1180c82910ae8469c86b6"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a61668dc434f1180c82910ae8469c86b6">getFOVAtMaxZoom</a> (void)</td></tr>
<tr class="memdesc:a61668dc434f1180c82910ae8469c86b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the field of view at maximum zoom. <br /></td></tr>
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<tr class="memitem:a267d3042775aa8e866bddf2f5f016a3f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a267d3042775aa8e866bddf2f5f016a3f"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a267d3042775aa8e866bddf2f5f016a3f">getFOVAtMinZoom</a> (void)</td></tr>
<tr class="memdesc:a267d3042775aa8e866bddf2f5f016a3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the field of view at minimum zoom. <br /></td></tr>
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<tr class="memitem:a8d6a781d3e3d199d683fe4fa53688686"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8d6a781d3e3d199d683fe4fa53688686"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a8d6a781d3e3d199d683fe4fa53688686">getIRFilterModeEnabled</a> (void)</td></tr>
<tr class="memdesc:a8d6a781d3e3d199d683fe4fa53688686"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the IR cutoff filter is in place. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#afa6f7c06df7665d97e43ab82a6888cca">getIRLEDsEnabled</a> (void)</td></tr>
<tr class="memdesc:afa6f7c06df7665d97e43ab82a6888cca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the IR LEDs are on. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a7e46b25e4e2fe69b72e6bba265c3ce56">getMaxPanSlew</a> (void)</td></tr>
<tr class="memdesc:a7e46b25e4e2fe69b72e6bba265c3ce56"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the maximum pan slew. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a7973ca895945196e64414cf0ba5bef1a">getMaxTiltSlew</a> (void)</td></tr>
<tr class="memdesc:a7973ca895945196e64414cf0ba5bef1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the maximum tilt slew. <br /></td></tr>
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virtual int&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxZoom</b> (void) const </td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a4adba1da8b0a8a0d8d282621e6c36b98">getMinPanSlew</a> (void)</td></tr>
<tr class="memdesc:a4adba1da8b0a8a0d8d282621e6c36b98"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the minimum pan slew. <br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a4414e53eedb142de426ae82f0d182bd3">getMinTiltSlew</a> (void)</td></tr>
<tr class="memdesc:a4414e53eedb142de426ae82f0d182bd3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the minimum tilt slew. <br /></td></tr>
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virtual int&#160;</td><td class="memItemRight" valign="bottom"><b>getMinZoom</b> (void) const </td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a42d7670076c9ac2e462adacc1b552ab8">getPanSlew</a> (void)</td></tr>
<tr class="memdesc:a42d7670076c9ac2e462adacc1b552ab8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the current pan slew. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>getPower</b> (void)</td></tr>
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<tr class="memitem:a9a716e397e8af66c8e3d98db64dee025"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a9a716e397e8af66c8e3d98db64dee025">getRealPanTilt</a> (void)</td></tr>
<tr class="memdesc:a9a716e397e8af66c8e3d98db64dee025"><td class="mdescLeft">&#160;</td><td class="mdescRight">Requests that a packet be sent to the camera to retrieve what the camera thinks are its pan/tilt positions.  <a href="#a9a716e397e8af66c8e3d98db64dee025">More...</a><br /></td></tr>
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<tr class="memitem:a4767634ce75fd51d972c6327b24196a6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a4767634ce75fd51d972c6327b24196a6">getRealZoomPos</a> (void)</td></tr>
<tr class="memdesc:a4767634ce75fd51d972c6327b24196a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Requests that a packet be sent to the camera to retrieve what the camera thinks is its zoom position.  <a href="#a4767634ce75fd51d972c6327b24196a6">More...</a><br /></td></tr>
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<tr class="memitem:a6690c27ee8c6c481da5ceff977c28e26"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6690c27ee8c6c481da5ceff977c28e26"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a6690c27ee8c6c481da5ceff977c28e26">getTiltSlew</a> (void)</td></tr>
<tr class="memdesc:a6690c27ee8c6c481da5ceff977c28e26"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the current tilt slew. <br /></td></tr>
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virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><b>getTypeName</b> ()</td></tr>
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virtual int&#160;</td><td class="memItemRight" valign="bottom"><b>getZoom</b> (void) const </td></tr>
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<tr class="memitem:a601ebea550948ed76fe8d4b65916b356"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a601ebea550948ed76fe8d4b65916b356"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a601ebea550948ed76fe8d4b65916b356">haltPanTilt</a> (void)</td></tr>
<tr class="memdesc:a601ebea550948ed76fe8d4b65916b356"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halts all pan-tilt movement. <br /></td></tr>
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<tr class="memitem:a52782507b905249c5e476d03b8575284"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a52782507b905249c5e476d03b8575284"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a52782507b905249c5e476d03b8575284">haltZoom</a> (void)</td></tr>
<tr class="memdesc:a52782507b905249c5e476d03b8575284"><td class="mdescLeft">&#160;</td><td class="mdescRight">Halts zoom movement. <br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>init</b> (void)</td></tr>
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<tr class="memitem:a1a4314f097f0dedefd028ac9db34a4d3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1a4314f097f0dedefd028ac9db34a4d3"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a1a4314f097f0dedefd028ac9db34a4d3">isInitted</a> (void)</td></tr>
<tr class="memdesc:a1a4314f097f0dedefd028ac9db34a4d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the camera has been initialized. <br /></td></tr>
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<tr class="memitem:a453a474b3bcac3269c43af0527979033"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a453a474b3bcac3269c43af0527979033">manualFocus</a> (void)</td></tr>
<tr class="memdesc:a453a474b3bcac3269c43af0527979033"><td class="mdescLeft">&#160;</td><td class="mdescRight">set manual focus mode  <a href="#a453a474b3bcac3269c43af0527979033">More...</a><br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>packetHandler</b> (<a class="el" href="classArBasePacket.html">ArBasePacket</a> *packet)</td></tr>
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<tr class="memitem:ac7005dff34943c5cf24868e0127cb5cf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac7005dff34943c5cf24868e0127cb5cf"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#ac7005dff34943c5cf24868e0127cb5cf">panSlew</a> (double deg)</td></tr>
<tr class="memdesc:ac7005dff34943c5cf24868e0127cb5cf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the rate that the unit pans at. <br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>power</b> (bool state)</td></tr>
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<tr class="memitem:a81bf4599ff6d4afc4160cf09d1214dc2"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a81bf4599ff6d4afc4160cf09d1214dc2"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a81bf4599ff6d4afc4160cf09d1214dc2">preparePacket</a> (<a class="el" href="classArVCC4Packet.html">ArVCC4Packet</a> *packet)</td></tr>
<tr class="memdesc:a81bf4599ff6d4afc4160cf09d1214dc2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds device ID and delimeter to packet buffer. <br /></td></tr>
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<tr class="memitem:a529db1d7108a065ce88523829fc03595"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a529db1d7108a065ce88523829fc03595"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a529db1d7108a065ce88523829fc03595">remErrorCB</a> (<a class="el" href="classArFunctor.html">ArFunctor</a> *functor)</td></tr>
<tr class="memdesc:a529db1d7108a065ce88523829fc03595"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove an error callback from the callback list. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>reset</b> (void)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>setAutoFocus</b> (bool af=true)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a5c045087b3b59e2bda9893aa5d7968ee">setLEDControlMode</a> (int controlMode)</td></tr>
<tr class="memdesc:a5c045087b3b59e2bda9893aa5d7968ee"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the control mode for the status LED on the front of the camera 0 = auto-control, 1 = Green ON, 2 = All OFF, 3 = Red ON, 4 = Orange ON. <br /></td></tr>
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<tr class="memitem:a0e97b610ad7f58cb6d02fd146dd53780"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0e97b610ad7f58cb6d02fd146dd53780"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a0e97b610ad7f58cb6d02fd146dd53780">tiltSlew</a> (double deg)</td></tr>
<tr class="memdesc:a0e97b610ad7f58cb6d02fd146dd53780"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the rate the unit tilts at. <br /></td></tr>
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<tr class="memitem:a8b0d091fcfed34f207c2f328ba046f8d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8b0d091fcfed34f207c2f328ba046f8d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a8b0d091fcfed34f207c2f328ba046f8d">wasError</a> (void)</td></tr>
<tr class="memdesc:a8b0d091fcfed34f207c2f328ba046f8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns true if the error callback list was called during the last cycle. <br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>zoom</b> (int deg)</td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a074c2f7791c5aa192ac8f9c72affa093">~ArVCC4</a> ()</td></tr>
<tr class="memdesc:a074c2f7791c5aa192ac8f9c72affa093"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="inherit_header pub_methods_classArPTZ"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArPTZ')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArPTZ.html">ArPTZ</a></td></tr>
<tr class="memitem:a6cf3bdfcadf28cd9f2bbf90d8139ab55 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a6cf3bdfcadf28cd9f2bbf90d8139ab55">ArPTZ</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
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<tr class="memitem:a03c8f1ea4c5b669613a40db7b68d9a3e inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a03c8f1ea4c5b669613a40db7b68d9a3e"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a03c8f1ea4c5b669613a40db7b68d9a3e">canPanTiltSlew</a> ()</td></tr>
<tr class="memdesc:a03c8f1ea4c5b669613a40db7b68d9a3e inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Can pan and tilt speed (slew rates) be set to move device? <br /></td></tr>
<tr class="separator:a03c8f1ea4c5b669613a40db7b68d9a3e inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32a5b100581efdb0d9c3d014bf1bd01e inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a32a5b100581efdb0d9c3d014bf1bd01e"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a32a5b100581efdb0d9c3d014bf1bd01e">canSetGain</a> (void) const </td></tr>
<tr class="memdesc:a32a5b100581efdb0d9c3d014bf1bd01e inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">If the driver can set gain on the camera, or not. <br /></td></tr>
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<tr class="memitem:a47b5b46bcd96a1e353e975823ee699cf inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a47b5b46bcd96a1e353e975823ee699cf">canSetSpeed</a> ()</td></tr>
<tr class="memdesc:a47b5b46bcd96a1e353e975823ee699cf inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Can pan and tilt speed (slew rates) be set to move device?  <a href="#a47b5b46bcd96a1e353e975823ee699cf">More...</a><br /></td></tr>
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<tr class="memitem:a0877c07c65573657b4d24866611802e5 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0877c07c65573657b4d24866611802e5"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a0877c07c65573657b4d24866611802e5">getAuxPort</a> (void)</td></tr>
<tr class="memdesc:a0877c07c65573657b4d24866611802e5 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the port the device is set to communicate on. <br /></td></tr>
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<tr class="memitem:ad2e327ae16f4d1acacdbafad884db46c inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad2e327ae16f4d1acacdbafad884db46c"></a>
virtual <a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ad2e327ae16f4d1acacdbafad884db46c">getDeviceConnection</a> (void)</td></tr>
<tr class="memdesc:ad2e327ae16f4d1acacdbafad884db46c inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the device connection used by this PTZ camera. <br /></td></tr>
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<tr class="memitem:a13b9d4b3baa22e9b6801d01cc5737075 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a13b9d4b3baa22e9b6801d01cc5737075"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a13b9d4b3baa22e9b6801d01cc5737075">getFocus</a> (double focus) const </td></tr>
<tr class="memdesc:a13b9d4b3baa22e9b6801d01cc5737075 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the focus the camera is set to. 0 if not supported. <br /></td></tr>
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<tr class="memitem:acab19a3e31eba42189b640f594ea94f1 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acab19a3e31eba42189b640f594ea94f1"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#acab19a3e31eba42189b640f594ea94f1">getGain</a> (double gain) const </td></tr>
<tr class="memdesc:acab19a3e31eba42189b640f594ea94f1 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the gain the camera is set to. 0 if not supported. <br /></td></tr>
<tr class="separator:acab19a3e31eba42189b640f594ea94f1 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e0225d1ea1e322e0753f07665d7b34d inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7e0225d1ea1e322e0753f07665d7b34d"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a7e0225d1ea1e322e0753f07665d7b34d">getInverted</a> ()</td></tr>
<tr class="memdesc:a7e0225d1ea1e322e0753f07665d7b34d inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed. <br /></td></tr>
<tr class="separator:a7e0225d1ea1e322e0753f07665d7b34d inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4dcefee2f9373bc949e9e205fbc7a505 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4dcefee2f9373bc949e9e205fbc7a505"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a4dcefee2f9373bc949e9e205fbc7a505">getMaxNegPan</a> (void) const </td></tr>
<tr class="memdesc:a4dcefee2f9373bc949e9e205fbc7a505 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:a4dcefee2f9373bc949e9e205fbc7a505 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a389a3eb3ea39bd8f3cc706afb6e576d3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a389a3eb3ea39bd8f3cc706afb6e576d3"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a389a3eb3ea39bd8f3cc706afb6e576d3">getMaxNegTilt</a> (void) const </td></tr>
<tr class="memdesc:a389a3eb3ea39bd8f3cc706afb6e576d3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:a389a3eb3ea39bd8f3cc706afb6e576d3 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a470a9501a6b9aa9a984f58dab7481449 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a470a9501a6b9aa9a984f58dab7481449">getMaxPan</a> () const </td></tr>
<tr class="memdesc:a470a9501a6b9aa9a984f58dab7481449 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can pan to (inverted if camera is inverted)  <a href="#a470a9501a6b9aa9a984f58dab7481449">More...</a><br /></td></tr>
<tr class="separator:a470a9501a6b9aa9a984f58dab7481449 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a165f84a26b141ed27ad7273d7e0d4743 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a165f84a26b141ed27ad7273d7e0d4743"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a165f84a26b141ed27ad7273d7e0d4743">getMaxPanSpeed</a> ()</td></tr>
<tr class="memdesc:a165f84a26b141ed27ad7273d7e0d4743 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum pan speed (slew rate) (degrees/sec) if device supports, or 0 if not. <br /></td></tr>
<tr class="separator:a165f84a26b141ed27ad7273d7e0d4743 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f3c4f0c3f0950c892e605ffec34bc86 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1f3c4f0c3f0950c892e605ffec34bc86"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a1f3c4f0c3f0950c892e605ffec34bc86">getMaxPosPan</a> (void) const </td></tr>
<tr class="memdesc:a1f3c4f0c3f0950c892e605ffec34bc86 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can pan to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:a1f3c4f0c3f0950c892e605ffec34bc86 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf6fb70e256999e62aa5c001f4a59596 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="adf6fb70e256999e62aa5c001f4a59596"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#adf6fb70e256999e62aa5c001f4a59596">getMaxPosTilt</a> (void) const </td></tr>
<tr class="memdesc:adf6fb70e256999e62aa5c001f4a59596 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) <br /></td></tr>
<tr class="separator:adf6fb70e256999e62aa5c001f4a59596 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a23a54d4c5334f7dfde331e91e389f093 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a23a54d4c5334f7dfde331e91e389f093">getMaxTilt</a> () const </td></tr>
<tr class="memdesc:a23a54d4c5334f7dfde331e91e389f093 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the highest positive degree the camera can tilt to (inverted if camera is inverted)  <a href="#a23a54d4c5334f7dfde331e91e389f093">More...</a><br /></td></tr>
<tr class="separator:a23a54d4c5334f7dfde331e91e389f093 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af252b272fbee5828d95b801a2df8575d inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af252b272fbee5828d95b801a2df8575d"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#af252b272fbee5828d95b801a2df8575d">getMaxTiltSpeed</a> ()</td></tr>
<tr class="memdesc:af252b272fbee5828d95b801a2df8575d inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Maximum tilt speed (slew rate) (degrees/sec) if device supports it, or 0 if not. <br /></td></tr>
<tr class="separator:af252b272fbee5828d95b801a2df8575d inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af5e9a1c0a7e31c002c40440475997250 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#af5e9a1c0a7e31c002c40440475997250">getMinPan</a> () const </td></tr>
<tr class="memdesc:af5e9a1c0a7e31c002c40440475997250 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can pan to (inverted if camera is inverted)  <a href="#af5e9a1c0a7e31c002c40440475997250">More...</a><br /></td></tr>
<tr class="separator:af5e9a1c0a7e31c002c40440475997250 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3158b7894920926b3cbaf2e89d62d82 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ad3158b7894920926b3cbaf2e89d62d82">getMinTilt</a> () const </td></tr>
<tr class="memdesc:ad3158b7894920926b3cbaf2e89d62d82 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted)  <a href="#ad3158b7894920926b3cbaf2e89d62d82">More...</a><br /></td></tr>
<tr class="separator:ad3158b7894920926b3cbaf2e89d62d82 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9d76370937c1cb2170e7a07a0157d949 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a9d76370937c1cb2170e7a07a0157d949">getPan</a> (void) const </td></tr>
<tr class="memdesc:a9d76370937c1cb2170e7a07a0157d949 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">The angle the camera is panned to (or last commanded value sent, if unable to obtain real pan position)  <a href="#a9d76370937c1cb2170e7a07a0157d949">More...</a><br /></td></tr>
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<tr class="memitem:a710d7180edd16a2ce3f86fa258daff68 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a710d7180edd16a2ce3f86fa258daff68"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a710d7180edd16a2ce3f86fa258daff68">getRobot</a> ()</td></tr>
<tr class="memdesc:a710d7180edd16a2ce3f86fa258daff68 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object this PTZ is associated with. May be NULL. <br /></td></tr>
<tr class="separator:a710d7180edd16a2ce3f86fa258daff68 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9f4ff90958537f6bdc095e9ed12ebe6 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ae9f4ff90958537f6bdc095e9ed12ebe6">getTilt</a> (void) const </td></tr>
<tr class="memdesc:ae9f4ff90958537f6bdc095e9ed12ebe6 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">The angle the camera is tilted to (or last commanded value sent, if unable to obtain real pan position)  <a href="#ae9f4ff90958537f6bdc095e9ed12ebe6">More...</a><br /></td></tr>
<tr class="separator:ae9f4ff90958537f6bdc095e9ed12ebe6 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a284e5582d1b05baa961463c8a8198de3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a284e5582d1b05baa961463c8a8198de3"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a284e5582d1b05baa961463c8a8198de3">pan</a> (double degrees)</td></tr>
<tr class="memdesc:a284e5582d1b05baa961463c8a8198de3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans to the given degrees. 0 is straight ahead, - is to the left, + to the right. <br /></td></tr>
<tr class="separator:a284e5582d1b05baa961463c8a8198de3 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a961a03bbd153b3361a711ef18c52513e inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a961a03bbd153b3361a711ef18c52513e"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a961a03bbd153b3361a711ef18c52513e">panRel</a> (double degrees)</td></tr>
<tr class="memdesc:a961a03bbd153b3361a711ef18c52513e inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans relative to current position by given degrees. <br /></td></tr>
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<tr class="memitem:a451b080c77f0b6a1104db1752f48bece inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a451b080c77f0b6a1104db1752f48bece"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a451b080c77f0b6a1104db1752f48bece">panTilt</a> (double degreesPan, double degreesTilt)</td></tr>
<tr class="memdesc:a451b080c77f0b6a1104db1752f48bece inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans and tilts to the given degrees. <br /></td></tr>
<tr class="separator:a451b080c77f0b6a1104db1752f48bece inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6036f53a3305e6f0e84025b693057439 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6036f53a3305e6f0e84025b693057439"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a6036f53a3305e6f0e84025b693057439">panTiltRel</a> (double degreesPan, double degreesTilt)</td></tr>
<tr class="memdesc:a6036f53a3305e6f0e84025b693057439 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pans and tilts relatives to the current position by the given degrees. <br /></td></tr>
<tr class="separator:a6036f53a3305e6f0e84025b693057439 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaa03afae5d2ce2928d8be9e093cf444a inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#aaa03afae5d2ce2928d8be9e093cf444a">robotPacketHandler</a> (<a class="el" href="classArRobotPacket.html">ArRobotPacket</a> *packet)</td></tr>
<tr class="memdesc:aaa03afae5d2ce2928d8be9e093cf444a inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Handles a packet that was read by the robot.  <a href="#aaa03afae5d2ce2928d8be9e093cf444a">More...</a><br /></td></tr>
<tr class="separator:aaa03afae5d2ce2928d8be9e093cf444a inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af54c78e35932bbbdbf3a13b55248ebf3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#af54c78e35932bbbdbf3a13b55248ebf3">sendPacket</a> (<a class="el" href="classArBasePacket.html">ArBasePacket</a> *packet)</td></tr>
<tr class="memdesc:af54c78e35932bbbdbf3a13b55248ebf3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sends a given packet to the camera (via robot or serial port, depending)  <a href="#af54c78e35932bbbdbf3a13b55248ebf3">More...</a><br /></td></tr>
<tr class="separator:af54c78e35932bbbdbf3a13b55248ebf3 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fcdd100e22ead53fbd69b7e619fd14c inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2fcdd100e22ead53fbd69b7e619fd14c"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a2fcdd100e22ead53fbd69b7e619fd14c">sensorInterpHandler</a> (void)</td></tr>
<tr class="memdesc:a2fcdd100e22ead53fbd69b7e619fd14c inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal, for attaching to the robots sensor interp to read serial port. <br /></td></tr>
<tr class="separator:a2fcdd100e22ead53fbd69b7e619fd14c inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac66ea3fad07e4f1a06e6a482059e2c96 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ac66ea3fad07e4f1a06e6a482059e2c96">setAuxPort</a> (int auxPort)</td></tr>
<tr class="memdesc:ac66ea3fad07e4f1a06e6a482059e2c96 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the aux port on the robot to be used to communicate with this device.  <a href="#ac66ea3fad07e4f1a06e6a482059e2c96">More...</a><br /></td></tr>
<tr class="separator:ac66ea3fad07e4f1a06e6a482059e2c96 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2e1b00edab294cdacf1d05d1a75bf5b inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ac2e1b00edab294cdacf1d05d1a75bf5b">setDeviceConnection</a> (<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *connection, bool driveFromRobotLoop=true)</td></tr>
<tr class="memdesc:ac2e1b00edab294cdacf1d05d1a75bf5b inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the device connection to be used by this PTZ camera, if set this camera will send commands via this connection, otherwise its via robot aux.  <a href="#ac2e1b00edab294cdacf1d05d1a75bf5b">More...</a><br /></td></tr>
<tr class="separator:ac2e1b00edab294cdacf1d05d1a75bf5b inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acc46ed669fc193d5eca5c4716d93fb26 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#acc46ed669fc193d5eca5c4716d93fb26">setFocus</a> (double focus) const </td></tr>
<tr class="memdesc:acc46ed669fc193d5eca5c4716d93fb26 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set focus on camera, range of 1-100.  <a href="#acc46ed669fc193d5eca5c4716d93fb26">More...</a><br /></td></tr>
<tr class="separator:acc46ed669fc193d5eca5c4716d93fb26 inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a37c0f3fcea79f9979894d25a339953ac inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a37c0f3fcea79f9979894d25a339953ac">setGain</a> (double gain) const </td></tr>
<tr class="memdesc:a37c0f3fcea79f9979894d25a339953ac inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set gain on camera, range of 1-100.  <a href="#a37c0f3fcea79f9979894d25a339953ac">More...</a><br /></td></tr>
<tr class="separator:a37c0f3fcea79f9979894d25a339953ac inherit pub_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acd0092aeb13d29dc4900818c5d819809 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acd0092aeb13d29dc4900818c5d819809"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#acd0092aeb13d29dc4900818c5d819809">setInverted</a> (bool inv)</td></tr>
<tr class="memdesc:acd0092aeb13d29dc4900818c5d819809 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set whether the camera is inverted (upside down). If true, pan and tilt axes will be reversed. <br /></td></tr>
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<tr class="memitem:a2ca6ce6f3808a6cf2c01f55c4edb975b inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a2ca6ce6f3808a6cf2c01f55c4edb975b">setPanSpeed</a> (double s)</td></tr>
<tr class="memdesc:a2ca6ce6f3808a6cf2c01f55c4edb975b inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set pan slew rate (speed) (degrees/sec) if device supports it (see <a class="el" href="classArPTZ.html#a03c8f1ea4c5b669613a40db7b68d9a3e" title="Can pan and tilt speed (slew rates) be set to move device? ">canPanTiltSlew()</a>)  <a href="#a2ca6ce6f3808a6cf2c01f55c4edb975b">More...</a><br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a2dd6d9bafa2b26f8ee482be2b49a5783">setRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *r)</td></tr>
<tr class="memdesc:a2dd6d9bafa2b26f8ee482be2b49a5783 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object this PTZ is associated with. May be NULL. <br /></td></tr>
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<tr class="memitem:a4ad63f6a50f4be8fc4cbf58e77373301 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a4ad63f6a50f4be8fc4cbf58e77373301">setTiltSpeed</a> (double s)</td></tr>
<tr class="memdesc:a4ad63f6a50f4be8fc4cbf58e77373301 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set tilt slew rate (speed) (degrees/sec) if device supports it (see <a class="el" href="classArPTZ.html#a03c8f1ea4c5b669613a40db7b68d9a3e" title="Can pan and tilt speed (slew rates) be set to move device? ">canPanTiltSlew()</a>)  <a href="#a4ad63f6a50f4be8fc4cbf58e77373301">More...</a><br /></td></tr>
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<tr class="memitem:a924db75e9b7739125ea6ca9cc1dae9a3 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a924db75e9b7739125ea6ca9cc1dae9a3"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a924db75e9b7739125ea6ca9cc1dae9a3">tilt</a> (double degrees)</td></tr>
<tr class="memdesc:a924db75e9b7739125ea6ca9cc1dae9a3 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tilts to the given degrees. 0 is middle, - is downward, + is upwards. <br /></td></tr>
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<tr class="memitem:a8261c5ce26e3b38fec76268508529d92 inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8261c5ce26e3b38fec76268508529d92"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a8261c5ce26e3b38fec76268508529d92">tiltRel</a> (double degrees)</td></tr>
<tr class="memdesc:a8261c5ce26e3b38fec76268508529d92 inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Tilts relative to the current position by given degrees. <br /></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#add57c9d4bcd50226e130aabf3ce6dfec">zoomRel</a> (int zoomValue)</td></tr>
<tr class="memdesc:add57c9d4bcd50226e130aabf3ce6dfec inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Zooms relative to the current value, by the given value. <br /></td></tr>
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<tr class="memitem:ac385d830dd56f2fefc0d2c2739b943da inherit pub_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac385d830dd56f2fefc0d2c2739b943da"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#ac385d830dd56f2fefc0d2c2739b943da">~ArPTZ</a> ()</td></tr>
<tr class="memdesc:ac385d830dd56f2fefc0d2c2739b943da inherit pub_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:ae06542a8827588bad57457bf354a964a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae06542a8827588bad57457bf354a964a"></a>
static void&#160;</td><td class="memItemRight" valign="bottom"><b>registerPTZType</b> ()</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr class="memitem:a98d7ffebce3a86a7c8c91c1d10c3a5ab"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a98d7ffebce3a86a7c8c91c1d10c3a5ab">Error</a> { <br />
&#160;&#160;<a class="el" href="classArVCC4.html#a98d7ffebce3a86a7c8c91c1d10c3a5aba34045e3e5c7a8083976a01faaa3999f4">CAM_ERROR_NONE</a> = 0x30, 
<a class="el" href="classArVCC4.html#a98d7ffebce3a86a7c8c91c1d10c3a5aba3eccca5c419bffb84fbf926f7624e2e9">CAM_ERROR_BUSY</a> = 0x31, 
<a class="el" href="classArVCC4.html#a98d7ffebce3a86a7c8c91c1d10c3a5aba6e3647459d59c5e995cea6c92ed001f8">CAM_ERROR_PARAM</a> = 0x35, 
<a class="el" href="classArVCC4.html#a98d7ffebce3a86a7c8c91c1d10c3a5aba8d7d3d39288a5a6d71c8486e0b79db31">CAM_ERROR_MODE</a> = 0x39, 
<br />
&#160;&#160;<a class="el" href="classArVCC4.html#a98d7ffebce3a86a7c8c91c1d10c3a5aba5a609b53d508d59871d3720e789f942c">CAM_ERROR_UNKNOWN</a> = 0xFF
<br />
 }</td></tr>
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<tr class="memitem:aed4177b482b4037c48cf1b97bd574a8f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aed4177b482b4037c48cf1b97bd574a8f"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>Param</b> { <br />
&#160;&#160;<b>MAX_PAN</b> = 98, 
<b>MIN_PAN</b> = -98, 
<b>MAX_TILT</b> = 88, 
<b>MIN_TILT</b> = -30, 
<br />
&#160;&#160;<b>MAX_PAN_SLEW</b> = 90, 
<b>MIN_PAN_SLEW</b> = 1, 
<b>MAX_TILT_SLEW</b> = 69, 
<b>MIN_TILT_SLEW</b> = 1, 
<br />
&#160;&#160;<b>MAX_ZOOM_OPTIC</b> = 1960, 
<b>MIN_ZOOM</b> = 0
<br />
 }</td></tr>
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<tr class="memitem:ab068f6f0e8ab9a9a8f8aace279c77a52"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab068f6f0e8ab9a9a8f8aace279c77a52"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>State</b> { <br />
&#160;&#160;<b>UNINITIALIZED</b>, 
<b>STATE_UNKNOWN</b>, 
<b>INITIALIZING</b>, 
<b>SETTING_CONTROL_MODE</b>, 
<br />
&#160;&#160;<b>SETTING_INIT_TILT_RATE</b>, 
<b>SETTING_INIT_PAN_RATE</b>, 
<b>SETTING_INIT_RANGE</b>, 
<b>POWERING_ON</b>, 
<br />
&#160;&#160;<b>POWERING_OFF</b>, 
<b>POWERED_OFF</b>, 
<b>POWERED_ON</b>, 
<b>AWAITING_INITIAL_POWERON</b>, 
<br />
&#160;&#160;<b>AWAITING_INITIAL_INIT</b>, 
<b>AWAITING_ZOOM_RESPONSE</b>, 
<b>AWAITING_PAN_TILT_RESPONSE</b>, 
<b>AWAITING_STOP_PAN_TILT_RESPONSE</b>, 
<br />
&#160;&#160;<b>AWAITING_STOP_ZOOM_RESPONSE</b>, 
<b>AWAITING_PAN_SLEW_RESPONSE</b>, 
<b>AWAITING_TILT_SLEW_RESPONSE</b>, 
<b>AWAITING_POS_REQUEST</b>, 
<br />
&#160;&#160;<b>AWAITING_ZOOM_REQUEST</b>, 
<b>AWAITING_LED_CONTROL_RESPONSE</b>, 
<b>AWAITING_IRLEDS_RESPONSE</b>, 
<b>AWAITING_IRFILTER_RESPONSE</b>, 
<br />
&#160;&#160;<b>AWAITING_PRODUCTNAME_REQUEST</b>, 
<b>AWAITING_DIGITAL_ZOOM_RESPONSE</b>, 
<b>AWAITING_FOCUS_RESPONSE</b>, 
<b>STATE_DELAYED_SWITCH</b>, 
<br />
&#160;&#160;<b>STATE_ERROR</b>
<br />
 }</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a86106bf7e656236e895cb36a87972497"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a86106bf7e656236e895cb36a87972497"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>camTask</b> (void)</td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getPan_i</b> (void) const </td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getTilt_i</b> (void) const </td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>pan_i</b> (double deg)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>panRel_i</b> (double deg)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>panTilt_i</b> (double pdeg, double tdeg)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>panTiltRel_i</b> (double pdeg, double tdeg)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>processGetPanTiltResponse</b> (void)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>processGetProductNameResponse</b> (void)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>processGetZoomResponse</b> (void)</td></tr>
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virtual <a class="el" href="classArBasePacket.html">ArBasePacket</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>readPacket</b> (void)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>requestBytes</b> (int num=6)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendCameraNameRequest</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendDigitalZoom</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendFocus</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendHaltPanTilt</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendHaltZoom</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendInit</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendIRFilterControl</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendIRLEDControl</b> (void)</td></tr>
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<tr class="memitem:a3912e5dab6b45915a72535f457f1f845"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a3912e5dab6b45915a72535f457f1f845">sendLEDControlMode</a> (void)</td></tr>
<tr class="memdesc:a3912e5dab6b45915a72535f457f1f845"><td class="mdescLeft">&#160;</td><td class="mdescRight">This controls the status of the LED.  <a href="#a3912e5dab6b45915a72535f457f1f845">More...</a><br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendPanSlew</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendPanTilt</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendPower</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendProductNameRequest</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendRealPanTiltRequest</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendRealZoomRequest</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendTiltSlew</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>sendZoom</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>setControlMode</b> (void)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>setDefaultRange</b> (void)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>switchState</b> (State state, int delayTime=0)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>throwError</b> ()</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>tilt_i</b> (double deg)</td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>tiltRel_i</b> (double deg)</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>timeout</b> (int mSec=0)</td></tr>
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<tr class="inherit_header pro_methods_classArPTZ"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classArPTZ')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classArPTZ.html">ArPTZ</a></td></tr>
<tr class="memitem:af636ce588e4385b3dc7263f7fd7fad44 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#af636ce588e4385b3dc7263f7fd7fad44">setLimits</a> (double maxPosPan, double maxNegPan, double maxPosTilt, double maxNegTilt, int maxZoom=0, int minZoom=0)</td></tr>
<tr class="memdesc:af636ce588e4385b3dc7263f7fd7fad44 inherit pro_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Subclasses call this to set extents (limits) returned by <a class="el" href="classArPTZ.html#a1f3c4f0c3f0950c892e605ffec34bc86" title="Gets the highest positive degree the camera can pan to (inverted if camera is inverted) ...">getMaxPosPan()</a>, <a class="el" href="classArPTZ.html#a4dcefee2f9373bc949e9e205fbc7a505" title="Gets the lowest negative degree the camera can pan to (inverted if camera is inverted) ...">getMaxNegPan()</a>, <a class="el" href="classArPTZ.html#adf6fb70e256999e62aa5c001f4a59596" title="Gets the highest positive degree the camera can tilt to (inverted if camera is inverted) ...">getMaxPosTilt()</a>, <a class="el" href="classArPTZ.html#a389a3eb3ea39bd8f3cc706afb6e576d3" title="Gets the lowest negative degree the camera can tilt to (inverted if camera is inverted) ...">getMaxNegTilt()</a>, <a class="el" href="classArPTZ.html#adbe4dd5593dc638005a7c0dfbdd5de37" title="Gets the maximum value for the zoom on this camera. ">getMaxZoom()</a>, and <a class="el" href="classArPTZ.html#ae89a0e1f2458e59625c4849944b0c8ca" title="Gets the lowest value for the zoom on this camera. ">getMinZoom()</a>.  <a href="#af636ce588e4385b3dc7263f7fd7fad44">More...</a><br /></td></tr>
<tr class="separator:af636ce588e4385b3dc7263f7fd7fad44 inherit pro_methods_classArPTZ"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b81bc7ca8197caece2e8ee67b4ec374 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArPTZ.html#a9b81bc7ca8197caece2e8ee67b4ec374">getMaxPosPan_i</a> (void) const </td></tr>
<tr class="memdesc:a9b81bc7ca8197caece2e8ee67b4ec374 inherit pro_methods_classArPTZ"><td class="mdescLeft">&#160;</td><td class="mdescRight">Versions of the pan and tilt limit accessors where inversion is not applied, for use by subclasses to check when given pan/tilt commands.  <a href="#a9b81bc7ca8197caece2e8ee67b4ec374">More...</a><br /></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxPan_i</b> () const </td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxPosTilt_i</b> (void) const </td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinPan_i</b> () const </td></tr>
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virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxNegPan_i</b> (void) const </td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxTilt_i</b> () const </td></tr>
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<tr class="memitem:aa54f41c28b7cfc006348ba097ae0e339 inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa54f41c28b7cfc006348ba097ae0e339"></a>
virtual double&#160;</td><td class="memItemRight" valign="bottom"><b>getMaxNegTilt_i</b> (void) const </td></tr>
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<tr class="memitem:ad6bbcd46ef3915b29543a9206d1e137d inherit pro_methods_classArPTZ"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6bbcd46ef3915b29543a9206d1e137d"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>getMinTilt_i</b> () const </td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr class="memitem:a7bac6125f63d30e561810642909bbfc3"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classArPTZ.html">ArPTZ</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#a7bac6125f63d30e561810642909bbfc3">create</a> (size_t index, <a class="el" href="classArPTZParams.html">ArPTZParams</a> params, <a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *parser, <a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="memdesc:a7bac6125f63d30e561810642909bbfc3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used by <a class="el" href="classArPTZConnector.html" title="Factory for creating and configuring interfaces for pan/tilt units or camera pan/tilt/zoom control ba...">ArPTZConnector</a> to create an <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> object based on robot parameters and program options.  <a href="#a7bac6125f63d30e561810642909bbfc3">More...</a><br /></td></tr>
<tr class="separator:a7bac6125f63d30e561810642909bbfc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a71105af5ab3865ede1024531bdb81d11"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a71105af5ab3865ede1024531bdb81d11"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myAutoUpdate</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myAutoUpdateCycle</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myBytesLeft</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myCameraHasBeenInitted</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myCameraIsInitted</b></td></tr>
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CameraType&#160;</td><td class="memItemRight" valign="bottom"><b>myCameraType</b></td></tr>
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CommState&#160;</td><td class="memItemRight" valign="bottom"><b>myCommType</b></td></tr>
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<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myConn</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myDesiredIRFilterMode</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myDesiredIRLEDsMode</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myDesiredLEDControlMode</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myDigitalZoom</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myDigitalZoomDesired</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>myError</b></td></tr>
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std::list&lt; <a class="el" href="classArFunctor.html">ArFunctor</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myErrorCBList</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myFocusMode</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myFocusModeDesired</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myFOVAtMaxZoom</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myFOVAtMinZoom</b></td></tr>
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<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4">ArCommands::Commands</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myAuxRxCmd</b></td></tr>
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<a class="el" href="classArCommands.html#a9a31f904a95bbc31d8b33c6637100cc4">ArCommands::Commands</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myAuxTxCmd</b></td></tr>
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<a class="el" href="classArDeviceConnection.html">ArDeviceConnection</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myConn</b></td></tr>
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<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArPTZ.html">ArPTZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myConnectCB</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myInverted</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxNegPan</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxNegTilt</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxPosPan</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxPosTilt</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxZoom</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myMinZoom</b></td></tr>
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<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobot</b></td></tr>
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<a class="el" href="classArRetFunctor1C.html">ArRetFunctor1C</a>&lt; bool, <a class="el" href="classArPTZ.html">ArPTZ</a>, <a class="el" href="classArRobotPacket.html">ArRobotPacket</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myRobotPacketHandlerCB</b></td></tr>
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<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArPTZ.html">ArPTZ</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>mySensorInterpCB</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-attribs"></a>
Static Protected Attributes</h2></td></tr>
<tr class="memitem:ae5c619fea20d268c4e959a4449f56bc6"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classArGlobalRetFunctor4.html">ArPTZConnector::GlobalPTZCreateFunc</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArVCC4.html#ae5c619fea20d268c4e959a4449f56bc6">ourCreateFunc</a></td></tr>
<tr class="memdesc:ae5c619fea20d268c4e959a4449f56bc6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used by <a class="el" href="classArPTZConnector.html" title="Factory for creating and configuring interfaces for pan/tilt units or camera pan/tilt/zoom control ba...">ArPTZConnector</a> to create an <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> object based on robot parameters and program options.  <a href="#ae5c619fea20d268c4e959a4449f56bc6">More...</a><br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. </p>
<p>An <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> object can be used to control the pan, tilt, zoom and some other aspects of the Canon VC-C4 camera. Since the camera is typically connected to the robot microcontroller's auxilliary serial port, and also uses <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> task cycle callbacks, a connected and running <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> object is required.</p>
<p>Communication with the camera can operate in two modes or directions. In unidirectional mode(COMM_UNIDIRECTIONAL), <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> simply sends commands to the camera, and waits for some time to allow the camera to process it. However, it will have no way of verifying that a command was successfully received by the cameral. In bidirectional mode (COMM_BIDIRECTIONAL), <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> waits for a response from the camera. Bidirectinal mode requires that the CTS line (pin 2 on the VISCA port) be connected. When you create an <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> object, you can request a specific mode, or you can specify COMM_UNKNOWN, and <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> will switch into bidirectional mode if it receives any responses from the camera.</p>
<p>Programmer's manuals for the VC-C45 and VC-C50i, detailing the communications protocol (including commands not implemented by <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a>), as well as user manuals containing specifications and hardware information, are available at <a href="http://robots.mobilerobots.com">http://robots.mobilerobots.com</a>. <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> sends commands to the camera using the <a class="el" href="classArVCC4Packet.html" title="Used by ArVCC4 to construct command packets. ">ArVCC4Packet</a> class to construct the command, and using either the <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> pointer or an internal <a class="el" href="classArDeviceConnection.html" title="Base class for device connections. ">ArDeviceConnection</a>, depending on whether the camera is connected to the robot microcontroller's auxilliary serial port (the usual connection method for most robots) or a computer serial port.</p>
<h1><a class="anchor" id="VCC4CommandDetails"></a>
Command-Response details:</h1>
<p>This camera has a reponse mechanism, whereby each packet sent to the camera generates an answer within 300ms. For the most part, the answer consists of a 6-byte packet which has an error-status within it. Some commands generate longer packets. Receiving the error status is helpful in that you know that the camera will or will not execute the command. However, it doesn't tell you when the command is completed.</p>
<p>In order for the the reponses to work, the CTS line on the camera must be high. This is pin 2 on the visca port. If your camera is not wired in such a fashion, then no answers will be sent to the computer, and the computer will not know whether or not the last packet was processed correctly. Because of this, systems operating without the answer feature will need to run with delays between sending packets. Otherwise, packets will be ignored, but you will have no way of knowing that. To achieve this, there are two types of communication modes that this class will operate under - COMM_UNIDIRECTIONAL or COMM_BIDIRECTIONAL. The default is COMM_UNKNOWN, in which it will use bidirectional commuication if a response is received.</p>
<p>To handle the states and packet processing, this class runs as a user-task, different than the other pan/tilt devices. Because of this, it must have a valid robot connection and a valid serial connection if using a computer serial port. Note that the computer port must be set independently of this class. The aux port can be selected via setAuxPort from the <a class="el" href="classArPTZ.html" title="Base class which handles the PTZ cameras. ">ArPTZ</a> class.</p>
<h1><a class="anchor" id="VCC4UnitConversions"></a>
Unit Conversions:</h1>
<p>The camera's pan and tilt commands work on a number of units equal to (degrees / 0.1125). The panTilt function always rounds the conversion closer to zero, so that a magnitude greater than the allowable range of movement is not sent to the camera.</p>
<h1><a class="anchor" id="VCC4C50iFeatures"></a>
C50i features:</h1>
<p>NEW - There is now limited support for the night-mode version of the C50i. To enable night-mode support, pass the camera type in with the constructor. Night-mode consists of two parts - a phsyical IR-cutoff filter, and IR LEDs. The cutoff filter must be enabled first, then turn on the IR LEDs.</p>
<p>This camera has a digital zoom as well as the optical one. There is an additional function for handling the digital. There is also limited support for the auto-focus mechanism, which may need to be elaborated on for better night-vision. In addition to the focus, there are also gain and backlight adjustments that can be made, but are not yet implemented in this class. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="actsColorFollowingExample_8cpp-example.html#_a2">actsColorFollowingExample.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Member Enumeration Documentation</h2>
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          <td class="memname">enum <a class="el" href="classArVCC4.html#a98d7ffebce3a86a7c8c91c1d10c3a5ab">ArVCC4::Error</a></td>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a98d7ffebce3a86a7c8c91c1d10c3a5aba34045e3e5c7a8083976a01faaa3999f4"></a>CAM_ERROR_NONE&#160;</td><td class="fielddoc">
<p>No error. </p>
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<tr><td class="fieldname"><a class="anchor" id="a98d7ffebce3a86a7c8c91c1d10c3a5aba3eccca5c419bffb84fbf926f7624e2e9"></a>CAM_ERROR_BUSY&#160;</td><td class="fielddoc">
<p>Camera busy, will not execute the command. </p>
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<tr><td class="fieldname"><a class="anchor" id="a98d7ffebce3a86a7c8c91c1d10c3a5aba6e3647459d59c5e995cea6c92ed001f8"></a>CAM_ERROR_PARAM&#160;</td><td class="fielddoc">
<p>Illegal parameters to function call. </p>
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<tr><td class="fieldname"><a class="anchor" id="a98d7ffebce3a86a7c8c91c1d10c3a5aba8d7d3d39288a5a6d71c8486e0b79db31"></a>CAM_ERROR_MODE&#160;</td><td class="fielddoc">
<p>Not in host control mode. </p>
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<tr><td class="fieldname"><a class="anchor" id="a98d7ffebce3a86a7c8c91c1d10c3a5aba5a609b53d508d59871d3720e789f942c"></a>CAM_ERROR_UNKNOWN&#160;</td><td class="fielddoc">
<p>Unknown error condition. Should never happen. </p>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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          <td class="memname">ArVCC4::ArVCC4 </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td>
          <td class="paramname"><em>robot</em>, </td>
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          <td class="paramname"><em>commDirection</em> = <code>COMM_UNKNOWN</code>, </td>
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          <td class="paramname"><em>autoUpdate</em> = <code>true</code>, </td>
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          <td class="paramtype">CameraType&#160;</td>
          <td class="paramname"><em>cameraType</em> = <code>CAMERA_VCC4</code>&#160;</td>
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<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robot</td><td>the robot this camera is attached to</td></tr>
    <tr><td class="paramname">inverted</td><td>if this camera is inverted or not, the only time a camera will normally be inverted is on a robot where it's mounted on the underside of something, ie like in a peoplebot</td></tr>
    <tr><td class="paramname">commDirection</td><td>this is the type of communications that the camera should use. It can be unidirectional, bidirectional, or unknown. If unidirectional it sends packets without knowing if the camera has received them or not. This results in necessary 300 ms delays between packets, otherwise the packets will get dropped. In bidirectional mode, responses are received from the camera and evaluated for success of receipt of the previous command. In unknown mode, it will use bidirectional communication if a response is received, otherwise it will be unidirectional.</td></tr>
    <tr><td class="paramname">autoUpdate</td><td>this will cause the usertask to periodically query the camera for actual positional information (pan, tilt, zoom). This will happen every 1 sec idle time, and will switch between pan/tilt info and zoom info.</td></tr>
    <tr><td class="paramname">disableLED</td><td>if set to true this will force the LED, on the front of the camera, to turn off. Otherwise it will function normally</td></tr>
    <tr><td class="paramname">cameraType</td><td>used to discriminate between VC-C4 and C50i </td></tr>
  </table>
  </dd>
</dl>

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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void ArVCC4::addErrorCB </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArFunctor.html">ArFunctor</a> *&#160;</td>
          <td class="paramname"><em>functor</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classArListPos.html#adb42d52c70a646c5698c5513cd25bbd0">ArListPos::Pos</a>&#160;</td>
          <td class="paramname"><em>position</em>&#160;</td>
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          <td></td>
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        </tr>
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<p>Adds an error callback to a list of callbacks to be called when there is a serious error in communicating - either the parameters were incorrect, the mode was incorrect, or there was an unknown error. </p>

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          <td class="memname">virtual bool ArVCC4::autoFocus </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Set autofocus mode: </p>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000074">Deprecated:</a></b></dt><dd>use setAutoFocus() instead </dd></dl>

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          <td class="memname"><a class="el" href="classArPTZ.html">ArPTZ</a> * ArVCC4::create </td>
          <td>(</td>
          <td class="paramtype">size_t&#160;</td>
          <td class="paramname"><em>index</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype"><a class="el" href="classArPTZParams.html">ArPTZParams</a>&#160;</td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classArArgumentParser.html">ArArgumentParser</a> *&#160;</td>
          <td class="paramname"><em>parser</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td>
          <td class="paramname"><em>robot</em>&#160;</td>
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          <td>)</td>
          <td></td><td></td>
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<p>Used by <a class="el" href="classArPTZConnector.html" title="Factory for creating and configuring interfaces for pan/tilt units or camera pan/tilt/zoom control ba...">ArPTZConnector</a> to create an <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> object based on robot parameters and program options. </p>
<dl class="section since"><dt>Since</dt><dd>2.7.6 </dd></dl>

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<p>adjust the digital zoom amount. </p>
<p>Has four states, takes 0-3 for: 1x, 2x, 4x, 8x </p>

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<p>Requests that a packet be sent to the camera to retrieve what the camera thinks are its pan/tilt positions. </p>
<p><a class="el" href="classArPTZ.html#a9d76370937c1cb2170e7a07a0157d949" title="The angle the camera is panned to (or last commanded value sent, if unable to obtain real pan positio...">getPan()</a> and <a class="el" href="classArPTZ.html#ae9f4ff90958537f6bdc095e9ed12ebe6" title="The angle the camera is tilted to (or last commanded value sent, if unable to obtain real pan positio...">getTilt()</a> will then return this information instead of your last requested values. </p>

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<p>Requests that a packet be sent to the camera to retrieve what the camera thinks is its zoom position. </p>
<p><a class="el" href="classArPTZ.html#a3fa77b2691a7cd7ae9f823ba9271a33a" title="The amount the camera is zoomed to (or last commanded value sent, if unable to obtain real pan positi...">getZoom()</a> will then return this information instead of your last requested value. </p>

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<p>set manual focus mode </p>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000075">Deprecated:</a></b></dt><dd>use setAutoFocus() instead </dd></dl>

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<p>This controls the status of the LED. </p>
<p>0 - disable forced control 1 - green forced on 2 - all forced off 3 - red forced on 4 - orange forced on </p>

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<h2 class="groupheader">Member Data Documentation</h2>
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          <td class="memname"><a class="el" href="classArGlobalRetFunctor4.html">ArPTZConnector::GlobalPTZCreateFunc</a> ArVCC4::ourCreateFunc</td>
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<p>Used by <a class="el" href="classArPTZConnector.html" title="Factory for creating and configuring interfaces for pan/tilt units or camera pan/tilt/zoom control ba...">ArPTZConnector</a> to create an <a class="el" href="classArVCC4.html" title="Control the pan, tilt, and zoom mechanisms of the Canon VC-C4 and VC-C50i cameras. ">ArVCC4</a> object based on robot parameters and program options. </p>
<dl class="section since"><dt>Since</dt><dd>2.7.6 </dd></dl>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArVCC4.h</li>
<li>ArVCC4.cpp</li>
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